ImuControl Namespace Reference

Functions
int8_t	init (uint8_t delay=0, int16_t gx=0, int16_t gy=0, int16_t gz=0, int16_t ax=0, int16_t ay=0, int16_t az=0)
	Initialize the IMU subsystem.
int8_t	dispose ()
	Dispose/stop the IMU subsystem and release resources.
int8_t	calculate_offsets (int16_t *gx, int16_t *gy, int16_t *gz, int16_t *ax, int16_t *ay, int16_t *az)
	Calculate and output sensor offsets.
ImuData	getImuData ()
	Get the last IMU reading snapshot.
float	getTemperature ()
	Get the last temperature reading from the IMU.
float	getVersion ()
	Get current library version.

Function Documentation

calculate_offsets()

int8_t ImuControl::calculate_offsets	(	int16_t *	gx,
		int16_t *	gy,
		int16_t *	gz,
		int16_t *	ax,
		int16_t *	ay,
		int16_t *	az )

Calculate and output sensor offsets.

Typically used to perform a calibration routine and retrieve offsets that can be passed to init() on later boots.

Parameters

gx	Output gyroscope X offset.
gy	Output gyroscope Y offset.
gz	Output gyroscope Z offset.
ax	Output accelerometer X offset.
ay	Output accelerometer Y offset.
az	Output accelerometer Z offset.

Returns

Status code:

• 0 : success
• -1 : init failed
• -2 : calculation failed

Warning

All output pointers must be valid (non-null).

dispose()

int8_t ImuControl::dispose

(

)

Dispose/stop the IMU subsystem and release resources.

Returns

Status code:

• 0 : success
• 1 : not active
• -1 : dispose failed

Examples

ImuControl/main.cpp.

getImuData()

ImuData ImuControl::getImuData

(

)

Get the last IMU reading snapshot.

Returns

Latest ImuData captured by the IMU subsystem.

Note

init() must have been called successfully before meaningful data is available.

getTemperature()

float ImuControl::getTemperature

(

)

Get the last temperature reading from the IMU.

Returns

Temperature in degrees Celsius.

getVersion()

float ImuControl::getVersion

(

)

Get current library version.

Original note: format 0.XYZ (3 digits after major).

Returns

Version as float.

Examples

ImuControl/main.cpp.

init()

int8_t ImuControl::init	(	uint8_t	delay = 0,
		int16_t	gx = 0,
		int16_t	gy = 0,
		int16_t	gz = 0,
		int16_t	ax = 0,
		int16_t	ay = 0,
		int16_t	az = 0 )

Initialize the IMU subsystem.

This must be called once before reading IMU data or receiving events.

Parameters

delay	Optional delay (milliseconds) before processing events.
gx	Gyroscope X offset.
gy	Gyroscope Y offset.
gz	Gyroscope Z offset.
ax	Accelerometer X offset.
ay	Accelerometer Y offset.
az	Accelerometer Z offset.

Returns

Status code:

• 0 : success
• 1 : already active
• -1 : init failed

Note

Sampling rate 104hz (accel + gyro), 1Hz (temperature)

Examples

ImuControl/main.cpp.